CN-121973910-A - Method and device for controlling water navigation of vehicle, computer equipment and storage medium

CN121973910ACN 121973910 ACN121973910 ACN 121973910ACN-121973910-A

Abstract

The application relates to a vehicle water navigation control method, a device, computer equipment, a computer readable storage medium and a computer program product, which can be used in the technical field of vehicles. The method comprises the steps of obtaining water depth information of a wading area where a vehicle is located and wheel torque information of the vehicle, controlling the vehicle to enter a water navigation mode under the condition that the water depth information is larger than a preset water depth threshold value and the wheel torque information is smaller than the preset torque threshold value, generating a first propeller control instruction of the vehicle according to a gear signal and a pedal signal of the vehicle in the water navigation mode, and controlling the rotating direction and the rotating speed of a propeller arranged on the vehicle according to the first propeller control instruction so as to control the vehicle to navigate on water. By adopting the method, the accuracy of the water navigation control of the vehicle can be improved.

Inventors

LUO JUNXIN
ZHANG ERXIN
LI YI
WANG PENG
XIAO YA

Assignees

赛力斯汽车有限公司

Dates

Publication Date: 20260505
Application Date: 20260205

Claims (10)

1. A method for controlling water navigation of a vehicle, the method comprising: acquiring water depth information of a wading area where the vehicle is located and wheel torque information of the vehicle; Controlling the vehicle to enter a water navigation mode under the condition that the water depth information is larger than a preset water depth threshold value and the wheel torque information is smaller than a preset torque threshold value; Generating a first propeller control instruction of the vehicle according to a gear signal and a pedal signal of the vehicle in the water navigation mode; and controlling the rotating direction and the rotating speed of the propeller arranged on the vehicle according to the first propeller control instruction so as to control the vehicle to navigate on water.
2. The method of claim 1, wherein the propellers comprise a left propeller and a right propeller; The method further comprises the steps of: Generating a second propeller control instruction of the vehicle according to the steering wheel angle signal under the condition that the steering wheel angle signal of the vehicle in the water sailing mode is detected; and controlling the rotation direction and rotation speed of the left propeller and the rotation direction and rotation speed of the right propeller according to the second propeller control instruction so as to control the steering of the vehicle.
3. The method of claim 2, wherein the second propeller control command comprises a first sub-propeller control command and a second sub-propeller control command; the generating a second propeller control command of the vehicle according to the steering wheel angle signal includes: generating a first sub-propeller control instruction of the vehicle under the condition that the steering wheel angle signal represents a clockwise direction and the angle value indicated by the steering wheel angle signal is larger than a preset angle threshold value, wherein the first sub-propeller control instruction is used for indicating that the rotating speed of the left propeller is larger than that of the right propeller and indicating that the rotating direction of the left propeller and the rotating direction of the right propeller are both forward rotation; And under the condition that the steering wheel angle signal represents a counterclockwise direction and the angle value indicated by the steering wheel angle signal is larger than the preset angle threshold value, generating a second sub-propeller control instruction of the vehicle, wherein the second sub-propeller control instruction is used for indicating that the rotating speed of the right propeller is larger than that of the left propeller, and indicating that the rotating direction of the left propeller and the rotating direction of the right propeller are both forward rotation, and the second sub-propeller control instruction is used for controlling the vehicle to turn left.
4. The method of claim 2, wherein the second propeller control command further comprises a third sub-propeller control command and a fourth sub-propeller control command; the generating a second propeller control command of the vehicle according to the steering wheel angle signal includes: Generating a third sub-propeller control instruction of the vehicle under the condition that the steering wheel angle signal represents a clockwise direction and the angle value indicated by the steering wheel angle signal is smaller than or equal to a preset angle threshold value, wherein the third sub-propeller control instruction is used for indicating that the rotating direction of the left propeller is forward rotation and the rotating direction of the right propeller is reverse rotation; And under the condition that the steering wheel angle signal represents a counterclockwise direction and the angle value indicated by the steering wheel angle signal is smaller than or equal to the preset angle threshold value, generating a fourth sub-propeller control instruction of the vehicle, wherein the fourth sub-propeller control instruction is used for indicating that the rotating direction of the right propeller is forward rotation and the rotating direction of the left propeller is reverse rotation, and the fourth sub-propeller control instruction is used for controlling the vehicle to steer leftwards.
5. The method according to claim 1, wherein the method further comprises: Under the water navigation mode, determining the safety state information of the vehicle according to the distance information between the vehicle and the obstacle; And carrying out safety protection control on the vehicle according to the safety state information.
6. The method of claim 5, wherein the safety protection control of the vehicle based on the safety state information comprises: Triggering collision early warning of the vehicle under the condition that the safety state information indicates that the distance information is smaller than a preset early warning distance threshold and larger than a preset collision distance threshold; And controlling the vehicle to perform deceleration operation under the condition that the safety state information indicates that the distance information is smaller than or equal to the preset collision distance threshold value.
7. The method according to any one of claims 1 to 6, further comprising, after controlling the vehicle into a water voyage mode: monitoring current water depth information of a wading area where the vehicle is located and current wheel torque information of the vehicle in real time; And controlling the vehicle to exit the water navigation mode and restore to a land running control state under the condition that the current water depth information is smaller than or equal to the preset water depth threshold value and the current wheel torque information is larger than or equal to the preset torque threshold value.
8. A vehicular water navigation control apparatus, the apparatus comprising: The information acquisition module is used for acquiring water depth information of a wading area where the vehicle is located and wheel torque information of the vehicle; The first control module is used for controlling the vehicle to enter a water navigation mode under the condition that the water depth information is larger than a preset water depth threshold value and the wheel torque information is smaller than a preset torque threshold value; the command generation module is used for generating a first propeller control command of the vehicle according to a gear signal and a pedal signal of the vehicle in the water sailing mode; And the second control module is used for controlling the rotating direction and the rotating speed of the propeller arranged on the vehicle according to the first propeller control instruction so as to control the vehicle to navigate on water.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.

Description

Method and device for controlling water navigation of vehicle, computer equipment and storage medium Technical Field The present application relates to the field of vehicle technologies, and in particular, to a method and apparatus for controlling water navigation of a vehicle, a computer device, and a computer readable storage medium. Background In the technical field of vehicle control, for a vehicle with water running capability, the running state switching between land and water area and the power control in the water running process are key factors influencing the safety and stability of the vehicle. In the existing water navigation control scheme, comprehensive judgment on the environment where the vehicle is and the running state of the vehicle is usually insufficient, and the water navigation mode and the propulsion mode are difficult to control accurately, so that the accuracy of the water navigation control of the vehicle is low. Disclosure of Invention In view of the foregoing, it is desirable to provide a vehicle water navigation control method, apparatus, computer device, computer-readable storage medium, and computer program product that can improve accuracy of vehicle water navigation control. In a first aspect, the present application provides a method for controlling water navigation of a vehicle. The method comprises the following steps: acquiring water depth information of a wading area where the vehicle is located and wheel torque information of the vehicle; Controlling the vehicle to enter a water navigation mode under the condition that the water depth information is larger than a preset water depth threshold value and the wheel torque information is smaller than a preset torque threshold value; Generating a first propeller control instruction of the vehicle according to a gear signal and a pedal signal of the vehicle in the water navigation mode; and controlling the rotating direction and the rotating speed of the propeller arranged on the vehicle according to the first propeller control instruction so as to control the vehicle to navigate on water. In one embodiment, the propellers include a left propeller and a right propeller; The method further comprises the steps of: Generating a second propeller control instruction of the vehicle according to the steering wheel angle signal under the condition that the steering wheel angle signal of the vehicle in the water sailing mode is detected; and controlling the rotation direction and rotation speed of the left propeller and the rotation direction and rotation speed of the right propeller according to the second propeller control instruction so as to control the steering of the vehicle. In one embodiment, the second propeller control command includes a first sub-propeller control command and a second sub-propeller control command; the generating a second propeller control command of the vehicle according to the steering wheel angle signal includes: generating a first sub-propeller control instruction of the vehicle under the condition that the steering wheel angle signal represents a clockwise direction and the angle value indicated by the steering wheel angle signal is larger than a preset angle threshold value, wherein the first sub-propeller control instruction is used for indicating that the rotating speed of the left propeller is larger than that of the right propeller and indicating that the rotating direction of the left propeller and the rotating direction of the right propeller are both forward rotation; And under the condition that the steering wheel angle signal represents a counterclockwise direction and the angle value indicated by the steering wheel angle signal is larger than the preset angle threshold value, generating a second sub-propeller control instruction of the vehicle, wherein the second sub-propeller control instruction is used for indicating that the rotating speed of the right propeller is larger than that of the left propeller, and indicating that the rotating direction of the left propeller and the rotating direction of the right propeller are both forward rotation, and the second sub-propeller control instruction is used for controlling the vehicle to turn left. In one embodiment, the second propeller control command further includes a third sub-propeller control command and a fourth sub-propeller control command; the generating a second propeller control command of the vehicle according to the steering wheel angle signal includes: Generating a third sub-propeller control instruction of the vehicle under the condition that the steering wheel angle signal represents a clockwise direction and the angle value indicated by the steering wheel angle signal is smaller than or equal to a preset angle threshold value, wherein the third sub-propeller control instruction is used for indicating that the rotating direction of the left propeller is forward rotation and the rotating direction of the right propeller is rever